allwpilib/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <gtest/gtest.h>

#include "wpi/math/geometry/Pose3d.hpp"
#include "wpi/util/SmallVector.hpp"

using namespace frc;

namespace {

const Pose3d kExpectedData =
    Pose3d{Translation3d{1.1_m, 2.2_m, 1.1_m},
           Rotation3d{Quaternion{1.91, 0.3504, 3.3, 1.74}}};
}  // namespace

TEST(Pose3dProtoTest, Roundtrip) {
  wpi::ProtobufMessage<decltype(kExpectedData)> message;
  wpi::SmallVector<uint8_t, 64> buf;

  ASSERT_TRUE(message.Pack(buf, kExpectedData));
  auto unpacked_data = message.Unpack(buf);
  ASSERT_TRUE(unpacked_data.has_value());

  EXPECT_EQ(kExpectedData.Translation(), unpacked_data->Translation());
  EXPECT_EQ(kExpectedData.Rotation(), unpacked_data->Rotation());
}